US 11,848,629 B1Granted

Method and apparatus for electric motor control

AssigneeGM Global Technology Operations LLC

InventorsYue-Yun Wang, Lei Hao, Ruixing Long, Bojian Cao

Life of this patent

Estimating the term…

Abstract

A method and apparatus for electric motor control includes a model predictive controller operating in a d-q reference frame to provide d-q reference frame voltage command signals that counteract a magnetic cross coupling within the motor.

Claims20

Dependent claims

An apparatus for controlling an electric motor, comprising:

a power inverter coupled to a poly-phase stator winding of the electric motor;
and
a motor controller comprising:
a model predictive controller operating in a d-q reference frame to provide d-q reference frame voltage command signals (vq, vd) that counteract a magnetic cross coupling within the electric motor;
wherein the model predictive controller comprises a cost function module outputting the d-q reference frame voltage command signals (vq, vd) internally forced to counteract d-q axis voltage deviations in accordance with predetermined motor voltage references (Vdref, vqref);
wherein the cost function module comprises a sum of vector norm squares cost function
min
v
q
,
v
d
∑
i
=
k
k
+
N
W
T
⁢

(
T
qr
-
T
q
(
i
)

2
+
W
y
⁢

(
i
^
q
-
i
q
(
i
)
i
^
d
-
i
d
(
i
)
)

2
+
∑
j
=
k
k
+
M
W
v
⁢

(
v
qref
-
v
q
(
j
)
v
dref
-
v
d
(
j
)
)

2
wherein
id (i), iq(i) are d-q axis currents,
îd, îq are d-q axis current references,

(
i
^
q
-
i
q
(
i
)
i
^
d
-
i
d
(
i
)
)

represents a vector norm for d-q axis motor current error for forcing the d-q motor currents (id(i), iq (i)) to the current references (îd, îq),
vd(j), vq(j) are d-q axis motor voltages,
vdref, vqref are d-q axis motor voltage references,

(
v
qref
-
v
q
(
j
)
v
dref
-
v
d
(
j
)
)

represents a vector norm for forcing the motor voltages (vd(j), vq (j)) to counteract d-q axis voltage deviations and cross coupling effects,
Tq is a motor torque,
Tqr is a motor torque reference,

(
T
qr
-
T
q
(
i
)

represents a vector norm for forcing the motor torque (Tq) to the motor torque reference (Tqr), and
WT Wy and Wv represent respective weights for the vector norm squares;
a transformation module receiving the d-q reference frame voltage command signals (vq, vd) and generating stationary reference frame voltage command signals (vabc);
and
a pulse-width generation module controlling the power inverter based on the stationary reference frame voltage command signals (vabc).

157 more elements

A method for controlling an electric motor including a poly-phase stator winding, comprising:

operating a model predictive controller in accordance with a cost function in a d-q reference frame of the electric motor to provide d-q reference frame voltage command signals (vq, vd) that counteract a magnetic cross coupling within the electric motor;
wherein the model predictive controller comprises a cost function module outputting the d-q reference frame voltage command signals (vq, vd) internally forced to counteract d-q axis voltage deviations in accordance with predetermined motor voltage references (vdref, vqref);
wherein the cost function module comprises a sum of vector norm squares cost function
min
v
q
,
v
d
∑
i
=
k
k
+
N
W
T
⁢

(
T
qr
-
T
q
(
i
)

2
+
W
y
⁢

(
i
^
q
-
i
q
(
i
)
i
^
d
-
i
d
(
i
)
)

2
+
∑
j
=
k
k
+
M
W
v
⁢

(
v
qref
-
v
q
(
j
)
v
dref
-
v
d
(
j
)
)

2
wherein
id (i), iq(i) are d-q axis currents,
îd, îq are d-q axis current references,

(
i
^
q
-
i
q
(
i
)
i
^
d
-
i
d
(
i
)
)

represents a vector norm for d-q axis motor current error for forcing the d-q motor currents (id(i), iq (i)) to the current references (îd, îq),
vd(j), vq(j) are d-q axis motor voltages,
vdref, vqref are d-q axis motor voltage references,

(
v
qref
-
v
q
(
j
)
v
dref
-
v
d
(
j
)
)

represents a vector norm for forcing the motor voltages (vd(j), vq (j)) to counteract d-q axis voltage deviations and cross coupling effects,
Tq is a motor torque,
Tqr is a motor torque reference,

(
T
qr
-
T
q
(
i
)

represents a vector norm for forcing the motor torque (Tq) to the motor torque reference (Tqr), and
WT Wy and Wv represent respective weights for the vector norm squares;
transforming the d-q reference frame voltage command signals (vq, vd) into stationary reference frame voltage command signals (vabc);
and
controlling a power inverter coupled to the poly-phase stator winding of the electric motor based on the stationary reference frame voltage command signals (vabc).

154 more elements

An electrified vehicle, comprising:

an electric propulsion system including a rechargeable energy storage system and an electric drive unit, the electric drive unit including a poly-phase electric motor having a poly-phase stator winding and a traction power inverter module including a motor controller and a power inverter, the power inverter coupled to the poly-phase stator winding;
and
the motor controller comprising:
a model predictive controller operating in a d-q reference frame to provide d-q reference frame voltage command signals (vq, vd) that counteract a magnetic cross coupling within the electric motor;
wherein the model predictive controller comprises a cost function module outputting the d-q reference frame voltage command signals (vq, vd) internally forced to counteract d-q axis voltage deviations in accordance with predetermined motor voltage references (vdref, vqref);
wherein the cost function module comprises a sum of vector norm squares cost function
min
v
q
,
v
d
∑
i
=
k
k
+
N
W
T
⁢

(
T
qr
-
T
q
(
i
)

2
+
W
y
⁢

(
i
^
q
-
i
q
(
i
)
i
^
d
-
i
d
(
i
)
)

2
+
∑
j
=
k
k
+
M
W
v
⁢

(
v
qref
-
v
q
(
j
)
v
dref
-
v
d
(
j
)
)

2
wherein
id (i), iq(i) are d-q axis currents,
îd, îq are d-q axis current references,

(
i
^
q
-
i
q
(
i
)
i
^
d
-
i
d
(
i
)
)

represents a vector norm for d-q axis motor current error for forcing the d-q motor currents (id(i), iq(i)) to the current references (îd, îq),
vd(j), vq(j) are d-q axis motor voltages,
vdref, vqref are d-q axis motor voltage references,

(
v
qref
-
v
q
(
j
)
v
dref
-
v
d
(
j
)
)

represents a vector norm for forcing the motor voltages (vd(j), vq(j)) to counteract d-q axis voltage deviations and cross coupling effects,
Tq is a motor torque,
Tqr is a motor torque reference,

(
T
qr
-
T
q
(
i
)

represents a vector norm for forcing the motor torque (Tq) to the motor torque reference (Tqr), and
WT Wy and Wv represent respective weights for the vector norm squares;
a transformation module receiving the d-q reference frame voltage command signals (vq, vd) and generating stationary reference frame voltage command signals (vabc);
and
a pulse-width generation module controlling the power inverter based on the stationary reference frame voltage command signals (vabc).

157 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/825,158Filed 26 May 2022
Published: US 2023/0402944 A114 Dec 2023
Granted: 19 Dec 2023
Term ends: Not estimatedThe source records don’t support an estimate.

Classification19 codes

H02P 21/0017
Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control: model reference adaptation, e.g. MRAS or MRAC, useful for…
H02P 21/06
Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation: rotor flux based control…
B60L 15/025
Characterised by the form of the current used in the control circuit: using field orientation; Vector control; Direct Torque Control [DTC]
B60L 15/2045
For control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed: for…

Family

US 2023/0402944 A1Published application
US 11,848,629 B1This patent

From the US filing history. Foreign family members aren’t listed.

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Abstract

An apparatus for controlling an electric motor, comprising:

a power inverter coupled to a poly-phase stator winding of the electric motor;
and
a motor controller comprising:
a model predictive controller operating in a d-q reference frame to provide d-q reference frame voltage command signals (vq, vd) that counteract a magnetic cross coupling within the electric motor;
wherein the model predictive controller comprises a cost function module outputting the d-q reference frame voltage command signals (vq, vd) internally forced to counteract d-q axis voltage deviations in accordance with predetermined motor voltage references (Vdref, vqref);
wherein the cost function module comprises a sum of vector norm squares cost function
min
v
q
,
v
d
∑
i
=
k
k
+
N
W
T
⁢

(
T
qr
-
T
q
(
i
)

2
+
W
y
⁢

(
i
^
q
-
i
q
(
i
)
i
^
d
-
i
d
(
i
)
)

2
+
∑
j
=
k
k
+
M
W
v
⁢

(
v
qref
-
v
q
(
j
)
v
dref
-
v
d
(
j
)
)

2
wherein
id (i), iq(i) are d-q axis currents,
îd, îq are d-q axis current references,

(
i
^
q
-
i
q
(
i
)
i
^
d
-
i
d
(
i
)
)

represents a vector norm for d-q axis motor current error for forcing the d-q motor currents (id(i), iq (i)) to the current references (îd, îq),
vd(j), vq(j) are d-q axis motor voltages,
vdref, vqref are d-q axis motor voltage references,

(
v
qref
-
v
q
(
j
)
v
dref
-
v
d
(
j
)
)

represents a vector norm for forcing the motor voltages (vd(j), vq (j)) to counteract d-q axis voltage deviations and cross coupling effects,
Tq is a motor torque,
Tqr is a motor torque reference,

(
T
qr
-
T
q
(
i
)

represents a vector norm for forcing the motor torque (Tq) to the motor torque reference (Tqr), and
WT Wy and Wv represent respective weights for the vector norm squares;
a transformation module receiving the d-q reference frame voltage command signals (vq, vd) and generating stationary reference frame voltage command signals (vabc);
and
a pulse-width generation module controlling the power inverter based on the stationary reference frame voltage command signals (vabc).

157 more elements

Facts

Application

17/825,158Filed 26 May 2022

Published

US 2023/0402944 A114 Dec 2023

Granted

19 Dec 2023

Term ends

Not estimatedThe source records don’t support an estimate.

Classification19 codes

H02P 21/0017
Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control: model reference adaptation, e.g. MRAS or MRAC, useful for…
H02P 21/06
Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation: rotor flux based control…
B60L 15/025
Characterised by the form of the current used in the control circuit: using field orientation; Vector control; Direct Torque Control [DTC]
B60L 15/2045
For control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed: for…